Chapter

Aerospace Robotics

Part of the series GeoPlanet: Earth and Planetary Sciences pp 75-93

Date:

Multibody Modelling of a Tracked Robot’s Actuation System

  • Janusz FrączekAffiliated withInstitute of Aeronautics and Applied Mechanics, Warsaw University of Technology
  • , Marek SurowiecAffiliated withInstitute of Aeronautics and Applied Mechanics, Warsaw University of Technology
  • , Marek WojtyraAffiliated withInstitute of Aeronautics and Applied Mechanics, Warsaw University of Technology Email author 

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Abstract

A simulation model of a mobile robot is presented in the chapter. The robot is equipped with four track systems, wrapped around four movable and independently driven track holders. Driving torques are transmitted to the track systems and track holders via speed reducers. The study is focused on friction effects in gearing, and especially on the self-locking properties. A simplified mathematical model of friction in speed reducers is presented. The model is based on the Coulomb friction law and exploits the analogy between reducers and wedge mechanisms. This friction model is implemented in a general purpose simulation software in which the entire tracked mobile robot is modelled. A multibody model of the complete robot is briefly described. Simulation results obtained for different friction levels, varying from friction absence to friction beyond the self-locking limit, are compared and discussed. The robot motors are also modelled and requirements for electric power in various operating conditions are estimated.